My preconception of Bilbao was this wonderful building, you go inside and there'd be extraordinary spaces.

Eventually, using a general purpose planner of the type that Peter talked about in his class to find what ends up to be a really complicated multi turn turnaround where the car backs into a driveway a little bit, as you can see over here, and it is all planned completely dynamically without any preconception how such a multi point U turn would look like.